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Bi-Level Optimization Framework
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
Published:6/15/2025
Humanoid Whole-Body ControlHigh-Dynamic Motion ImitationPhysics-Based Dynamic TrackingBi-Level Optimization FrameworkRobot Skill Learning
This paper presents KungfuBot, a physicsbased humanoid control framework that learns highdynamic human behaviors like Kungfu and dance through multistep motion processing and adaptive tracking, achieving significantly lower tracking errors successfully implemented on a robot.
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Bi-Level Optimization for Generative Recommendation: Bridging
Tokenization and Generation
Published:10/24/2025
Generative Recommendation SystemsBi-Level Optimization FrameworkJoint Optimization of Tokenizer and RecommenderMeta-Learning ApproachGradient Conflict Mitigation
BLOGER unifies tokenizer and recommender optimization via bilevel learning and gradient surgery, enhancing item identifiers' quality and aligning with recommendation goals for improved generative recommendation performance.
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